CN106983588B - Exoskeleton robot capable of adapting to human body structure - Google Patents
Exoskeleton robot capable of adapting to human body structure Download PDFInfo
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- CN106983588B CN106983588B CN201710330325.XA CN201710330325A CN106983588B CN 106983588 B CN106983588 B CN 106983588B CN 201710330325 A CN201710330325 A CN 201710330325A CN 106983588 B CN106983588 B CN 106983588B
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- carbon fiber
- forearm
- upper arm
- tube
- human body
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- 241000282414 Homo sapiens Species 0.000 title claims abstract description 43
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 101
- 239000004917 carbon fiber Substances 0.000 claims abstract description 101
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 101
- 210000000245 forearm Anatomy 0.000 claims abstract description 45
- 239000000835 fiber Substances 0.000 claims description 27
- 210000000707 wrist Anatomy 0.000 claims description 19
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000037237 body shape Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an exoskeleton robot capable of adapting to human body structures, which comprises an upper arm carbon fiber tube, a forearm carbon fiber tube and stress sensing gloves, and is characterized in that the upper end of the upper arm carbon fiber tube is connected with a shoulder hydraulic telescopic tube, and the exoskeleton robot has the beneficial effects that: the main body material of the self-adaptive human body structure exoskeleton robot is carbon fiber, so that the whole body is light in weight, the toughness and the strength of the self-adaptive human body structure exoskeleton robot can completely support the application of daily life of human beings, various sensors are arranged in the self-adaptive human body structure exoskeleton robot, a user can adjust the diameter of the self-adaptive human body structure exoskeleton robot according to the body shape and the needs of the user, the hydraulic pump can amplify the force required to be amplified by the user so as to complete some required actions, and the control center for controlling the whole state of the self-adaptive human body structure exoskeleton robot is a palm microcomputer, so that the user can conveniently operate the self-adaptive human body structure exoskeleton robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an exoskeleton robot capable of adapting to a human body structure.
Background
Exoskeleton robotics are comprehensive technologies that integrate sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the person who is the operator, and refer to robots that are sleeved outside the human body, also called "wearable robots," and develop the challenges of the exoskeleton of the human body, although the concept of exoskeleton has been a history of decades in the us science fiction movie, it is never a practical concept in view of the limitations of the underlying technology. The energy supply is a major impediment. The energy source of the human exoskeleton must be mobile and capable of providing sufficient energy for the task assigned to the wearer. Energy source army practical exoskeleton power-assisted robots should not attenuate during task progress. Movement is another problem. The human body can walk, run and bend back and forth at will. These complex movements have proven to be largely considered by the power-assisted robot itself, which is difficult to simulate by a machine, to be divided into two major categories, namely engineering power-assisted machines, which are used in the fields of automobiles, factories and various engineering machines; the bio-assisted robot is mainly an exoskeleton-assisted robot used by human beings, and can be used in three aspects, namely military, civil and medical treatment. The essence of the power assisting machine is that the power and the action speed of the human body are amplified by several times or even thousands of times. The exoskeleton robot technology discussed herein is a direct embodiment of the essence, and in combination with the current research progress and the living needs of human beings, we can expect the future technological development to achieve the effect that the power assisting device does not obstruct the actions of the human beings just like clothes worn by the human beings, and can amplify the target actions of the human beings to the required target values according to the brain consciousness of the human beings, for example, the human beings cannot lift a car by themselves, but the individual individuals can smoothly lift the car after wearing the exoskeleton clothes, and can also lift the car to walk or run.
In the prior art, the popularization degree of the civil exoskeleton robot is not high enough, and the equivalent level of the arms is disabled by a plurality of people in the society due to various accidents, so that the influence of different degrees is caused in daily life, and the exoskeleton robot capable of assisting the life of the people with the disabled arms is urgently needed nowadays.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an exoskeleton robot capable of adapting to a human body structure.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the exoskeleton robot capable of adapting to the human body structure comprises an upper arm carbon fiber tube, a forearm carbon fiber tube and stress-sensing gloves, wherein the upper end of the upper arm carbon fiber tube is connected with a shoulder hydraulic telescopic tube, the other end of the shoulder hydraulic telescopic tube is connected with a shoulder hydraulic pump, the lower end of the upper arm carbon fiber tube is connected with an elbow hydraulic pump, the elbow hydraulic pump is connected with the forearm carbon fiber tube through the elbow hydraulic telescopic tube, the other end of the forearm carbon fiber tube is connected with a forearm carbon fiber tube electric control telescopic fixed ring, a plurality of forearm carbon fiber tubes are equally arranged and connected with the forearm carbon fiber tube electric control telescopic fixed ring, the forearm carbon fiber tube electric control telescopic fixed ring is connected with a wrist hydraulic pump, the wrist hydraulic pump is connected with a wrist hydraulic telescopic tube, the wrist hydraulic telescopic tube is connected with the stress induction glove, the palm microcomputer is arranged on the back of the hand of the stress induction glove, the upper arm carbon fiber tube is externally connected with an upper arm carbon fiber tube electric control telescopic fixed ring, a plurality of upper arm carbon fiber tubes are equally arranged and connected with the upper arm carbon fiber tube electric control telescopic fixed ring, the outer side of the upper arm carbon fiber tube electric control telescopic fixed ring is connected with a plurality of upper arm carbon fiber shells, the upper arm carbon fiber shells are connected through upper arm inductance fiber telescopic belts, the outer side of the lower arm carbon fiber tube electric control telescopic fixed ring is connected with a plurality of lower arm carbon fiber shells, the lower arm carbon fiber shells are connected through lower arm inductance fiber telescopic belts, the upper arm carbon fiber shells are connected with the lower arm carbon fiber shells through elbow fiber protection nets, the upper arm carbon fiber shell is connected with the shoulder carbon fiber shell through a shoulder fiber protection net, and the forearm carbon fiber shell is connected with the stress induction glove through a wrist fiber protection net;
the upper arm carbon fiber tube and the forearm carbon fiber tube are provided with a plurality of miniature stress sensors, and the miniature stress sensors are electrically connected with the palm microcomputer;
the shoulder carbon fiber shell is connected with a first safety belt and a second safety belt, the first safety belt and the second safety belt are connected through a safety connecting belt, and the tail ends of the first safety belt and the second safety belt are connected together.
Preferably, the palm microcomputer is electrically controlled and telescopic fixed ring of the forearm carbon fiber tube, the upper arm inductance fiber telescopic belt and the upper arm inductance fiber telescopic belt are electrically connected with the wrist hydraulic pump, the elbow hydraulic pump, the shoulder hydraulic pump and the forearm carbon fiber tube respectively.
The exoskeleton robot capable of adapting to the human body structure, provided by the invention, has the beneficial effects that: the main body material of the self-adaptive human body structure exoskeleton robot is carbon fiber, so that the whole body is light in weight, the toughness and the strength of the self-adaptive human body structure exoskeleton robot can completely support the application of daily life of human beings, various sensors are arranged in the self-adaptive human body structure exoskeleton robot, a user can adjust the diameter of the self-adaptive human body structure exoskeleton robot according to the body shape and the needs of the user, the hydraulic pump can amplify the force required to be amplified by the user so as to complete some required actions, and the control center for controlling the whole state of the self-adaptive human body structure exoskeleton robot is a palm microcomputer, so that the user can conveniently operate the self-adaptive human body structure exoskeleton robot.
Drawings
FIG. 1 is a schematic view of the front internal structure of an exoskeleton robot capable of adapting to a human body structure according to the present invention;
FIG. 2 is a schematic diagram of an exoskeleton robot adapted to a human body structure according to the present invention;
FIG. 3 is a schematic view of the back internal structure of an adaptive anatomy exoskeleton robot according to the present invention;
fig. 4 is an enlarged view of the region a and the region B in fig. 1.
In the figure: 1. an upper arm carbon fiber tube; 2. a shoulder hydraulic telescopic tube; 3. a shoulder hydraulic pump; 4. an elbow hydraulic pump; 5. elbow hydraulic telescopic tube; 6. a small arm carbon fiber tube; 7. electronically controlled telescopic fixing ring for small arm carbon fiber tube; 8. a wrist hydraulic pump; 9. wrist hydraulic telescopic tube; 10. stress-inducing glove; 11. a wrist fiber protective mesh; 12. a forearm inductance fiber telescopic belt; 13. a forearm carbon fiber housing; 14. an elbow fiber protective net; 15. an upper arm carbon fiber housing; 16. an upper arm inductance fiber telescopic belt; 17. a shoulder fiber protective mesh; 18. a shoulder carbon fiber sheath; 19. a first seatbelt; 20. a second seat belt; 21. a safety connection strap; 22. a palm microcomputer; 23. an upper arm carbon fiber tube electric control telescopic fixing ring; 24. a miniature stress sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-4, an exoskeleton robot capable of adapting to human body structure comprises an upper arm carbon fiber tube 1, a forearm carbon fiber tube 6 and a stress sensing glove 10, wherein the upper end of the upper arm carbon fiber tube 1 is connected with a shoulder hydraulic telescopic tube 2, the other end of the shoulder hydraulic telescopic tube 2 is connected with a shoulder hydraulic pump 3, the lower end of the upper arm carbon fiber tube 1 is connected with an elbow hydraulic pump 4, the elbow hydraulic pump 4 is connected with the forearm carbon fiber tube 6 through the elbow hydraulic telescopic tube 5, the other end of the forearm carbon fiber tube 6 is connected with a forearm carbon fiber tube electric control telescopic fixed ring 7, a plurality of forearm carbon fiber tubes 6 are equally arranged and are connected with the forearm carbon fiber tube electric control telescopic fixed ring 7, the forearm carbon fiber tube electric control telescopic fixed ring 7 is connected with a wrist hydraulic pump 8, the wrist hydraulic pump 8 is connected with a wrist hydraulic telescopic tube 9, the wrist hydraulic telescopic tube 9 is connected with a stress induction glove 10, a palm microcomputer 22 is arranged on the back of the hand of the stress induction glove 10, an upper arm carbon fiber tube electric control telescopic fixed ring 23 is connected outside the upper arm carbon fiber tube 1, a plurality of upper arm carbon fiber tubes 1 are equally arranged and connected with the upper arm carbon fiber tube electric control telescopic fixed ring 23, a plurality of upper arm carbon fiber shells 15 are connected outside the upper arm carbon fiber tube electric control telescopic fixed ring 23, the upper arm carbon fiber shells 15 are connected through an upper arm inductance fiber telescopic belt 16, a plurality of forearm carbon fiber shells 13 are connected outside the forearm carbon fiber tube electric control telescopic fixed ring 7, the forearm carbon fiber shells 13 are connected through a forearm inductance fiber telescopic belt 12, the upper arm carbon fiber shells 15 and the forearm carbon fiber shells 13 are connected through an elbow fiber protection net 14, and the upper arm carbon fiber shell 15 is connected with the shoulder carbon fiber shell 18 through the shoulder fiber protection net 17, and the forearm carbon fiber shell 13 is connected with the stress-sensing glove 10 through the wrist fiber protection net 11.
The palm microcomputer 22 is electrically connected with the wrist hydraulic pump 8, the elbow hydraulic pump 4, the shoulder hydraulic pump 3, the forearm carbon fiber tube electric control telescopic fixed ring 7, the upper arm carbon fiber tube electric control telescopic fixed ring 23, the forearm inductance fiber telescopic belt 12 and the upper arm inductance fiber telescopic belt 16 respectively, so that information is fed back to the palm microcomputer 22 and the palm microcomputer 22 to control the whole operation.
The upper arm carbon fiber tube 1 and the lower arm carbon fiber tube 6 are provided with a plurality of miniature stress sensors 24 so as to facilitate the auxiliary operation of the invention, and the miniature stress sensors 24 are electrically connected with the palm microcomputer 22 so as to feed back signals to the palm microcomputer 22.
The shoulder carbon fiber housing 18 is connected with a first safety belt 19 and a second safety belt 20, the first safety belt 19 and the second safety belt 20 are connected through a safety connecting belt 21, and the ends of the first safety belt 19 and the second safety belt 20 are connected together so as to fix the safety belt with a user.
Specifically, when the self-adaptive human body structure exoskeleton robot is used, because the telescopic ring is arranged inside the self-adaptive human body structure exoskeleton robot and the telescopic belt is arranged outside the self-adaptive human body structure exoskeleton robot, a user can wear the self-adaptive human body structure exoskeleton robot in a dressing mode directly, then tie the safety belt to be fixed stably, and the palm microcomputer 22 is used for adjusting the fitting degree of the self-adaptive human body structure exoskeleton robot and the arms of the user.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The exoskeleton robot capable of adapting to human body structures comprises an upper arm carbon fiber tube (1), a forearm carbon fiber tube (6) and a stress sensing glove (10), and is characterized in that the upper end of the upper arm carbon fiber tube (1) is connected with a shoulder hydraulic telescopic tube (2), the other end of the shoulder hydraulic telescopic tube (2) is connected with a shoulder hydraulic pump (3), the lower end of the upper arm carbon fiber tube (1) is connected with an elbow hydraulic pump (4), the elbow hydraulic pump (4) is connected with the forearm carbon fiber tube (6) through the elbow hydraulic telescopic tube (5), the other end of the forearm carbon fiber tube (6) is connected with a forearm carbon fiber tube electric control telescopic fixed ring (7), a plurality of forearm carbon fiber tubes (6) are arranged and are connected with the forearm carbon fiber tube electric control telescopic fixed ring (7), the forearm carbon fiber tube electric control telescopic fixed ring (7) is connected with a wrist hydraulic pump (8), the hydraulic pump (8) is connected with a hydraulic telescopic tube (9), the elbow hydraulic telescopic tube (9) is connected with a back side of the forearm carbon fiber tube (10), the wrist (23) is connected with a miniature palm fiber electric control glove (23), the upper arm carbon fiber tubes (1) are equally arranged and connected with the upper arm carbon fiber tube electric control telescopic fixing ring (23), a plurality of upper arm carbon fiber shells (15) are connected to the outer side of the upper arm carbon fiber tube electric control telescopic fixing ring (23), the upper arm carbon fiber shells (15) are connected through upper arm inductance fiber telescopic belts (16), a plurality of forearm carbon fiber shells (13) are connected to the outer side of the forearm carbon fiber tube electric control telescopic fixing ring (7), the forearm carbon fiber shells (13) are connected through forearm inductance fiber telescopic belts (12), the upper arm carbon fiber shells (15) are connected with the forearm carbon fiber shells (13) through elbow fiber protection nets (14), the upper arm carbon fiber shells (15) are connected with shoulder carbon fiber shells (18) through shoulder fiber protection nets (17), and the forearm carbon fiber shells (13) are connected with the stress gloves (10) through wrist fiber protection nets (11);
the upper arm carbon fiber tube (1) and the lower arm carbon fiber tube (6) are provided with a plurality of miniature stress sensors (24), and the miniature stress sensors (24) are electrically connected with the palm microcomputer (22);
the shoulder carbon fiber shell (18) is connected with a first safety belt (19) and a second safety belt (20), the first safety belt (19) and the second safety belt (20) are connected through a safety connecting belt (21), and the tail ends of the first safety belt (19) and the second safety belt (20) are connected together.
2. The self-adaptive human body structure exoskeleton robot as claimed in claim 1, wherein the palm microcomputer (22) is electrically connected with the wrist hydraulic pump (8), the elbow hydraulic pump (4), the shoulder hydraulic pump (3), the forearm carbon fiber tube electric control telescopic fixing ring (7), the upper arm carbon fiber tube electric control telescopic fixing ring (23), the forearm inductance fiber telescopic belt (12) and the upper arm inductance fiber telescopic belt (16) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330325.XA CN106983588B (en) | 2017-05-11 | 2017-05-11 | Exoskeleton robot capable of adapting to human body structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330325.XA CN106983588B (en) | 2017-05-11 | 2017-05-11 | Exoskeleton robot capable of adapting to human body structure |
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| Publication Number | Publication Date |
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| CN106983588A CN106983588A (en) | 2017-07-28 |
| CN106983588B true CN106983588B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710330325.XA Active CN106983588B (en) | 2017-05-11 | 2017-05-11 | Exoskeleton robot capable of adapting to human body structure |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680559B (en) * | 2019-09-27 | 2022-02-15 | 长沙晟天新材料有限公司 | Chest lock integrated piece and preparation method thereof |
| CN111838801B (en) * | 2020-07-28 | 2023-01-06 | 中国科学院大学宁波华美医院 | Old person falls with wrist joint protection buffer |
| CN114271999B (en) * | 2021-12-27 | 2022-08-02 | 湖南工程学院 | Intelligent upper limb prosthesis with self-adaptive adjusting power |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2385692Y (en) * | 1999-03-01 | 2000-07-05 | 陈伯恒 | Self-manipulator |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| CN106232063A (en) * | 2014-04-21 | 2016-12-14 | 韩国技术教育大学产学协力团 | Ectoskeleton type glove |
| CN207693733U (en) * | 2017-05-11 | 2018-08-07 | 武汉云云天下信息科技有限公司 | It is a kind of can adaptive organization of human body exoskeleton robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2012334971A1 (en) * | 2011-11-12 | 2014-05-29 | Lim Innovations, Inc. | Modular prosthetic sockets and methods for making same |
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- 2017-05-11 CN CN201710330325.XA patent/CN106983588B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2385692Y (en) * | 1999-03-01 | 2000-07-05 | 陈伯恒 | Self-manipulator |
| CN106232063A (en) * | 2014-04-21 | 2016-12-14 | 韩国技术教育大学产学协力团 | Ectoskeleton type glove |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| CN207693733U (en) * | 2017-05-11 | 2018-08-07 | 武汉云云天下信息科技有限公司 | It is a kind of can adaptive organization of human body exoskeleton robot |
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| CN106983588A (en) | 2017-07-28 |
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